T-01-O-A-搬運壓鑄檢測及入庫仿真工作站機器人程序清單

1、一、程序清單MODULE Module1 CONST robtarget pHome:=476.257603671,0,487.823041378,0.49999989,0,0.866025467,0,0,0,0,0,9E9,9E9,9E9,9E9,9E9,9E9; !定義初始工作點 CONST robtarget pPickBase:=254.691923959,-406.456321401,122.099725032,0.493741266,0.509221861,0.496098245,-0.500798551,-1,0,-1,1,9E9,9E9,9E9,9E9,9E9,9E9; !定義

2、取工件點 CONST robtarget pPickCover:=96.809609878,-410.558832569,122.643559039,0.493800607,0.509207192,0.498261486,-0.498602536,-1,0,0,1,9E9,9E9,9E9,9E9,9E9,9E9; !定義取工件環(huán)點 CONST robtarget pPlaceInCasting:=396.110507095,-56.918596192,225.595904039,0.70972185,0.000673696,0.704466064,0.004691194,-1,-1,0,1,9

3、E9,9E9,9E9,9E9,9E9,9E9; !定義放置到壓鑄機構(gòu)點 CONST robtarget pPickFromCasting:=399.105225703,-56.829603396,261.949150887,0.706432059,0.004390228,0.707753576,0.004398563,-1,-1,0,1,9E9,9E9,9E9,9E9,9E9,9E9; !定義從壓鑄機構(gòu)取出點 CONST robtarget pPlaceInStore:=138.360272171,502.599223653,312.785607909,0.493944296,-0.50149

4、8613,0.499454926,0.505037573,0,-1,0,1,9E9,9E9,9E9,9E9,9E9,9E9; !定義放置到倉庫基準點 CONST robtarget pChecking:=523.943259806,-57.088150515,473.210150845,0.709598646,0.00075987,0.704590293,0.004658657,-1,-1,0,1,9E9,9E9,9E9,9E9,9E9,9E9; !定義視覺檢測點 CONST robtarget pPushToTrash:=-77.766200016,380.605666682,139.824

5、260826,0.290011937,-0.214895135,0.932571461,0.00486081,1,1,-1,1,9E9,9E9,9E9,9E9,9E9,9E9; !定義放置到垃圾箱點 PERS string CheckedColour:="G" !定義視覺檢測到的顏色 PERS num nCounter:=0; !定義放置到垃圾箱的高度變量 PROC rTeaching() !工作點示教子程序 MoveJ pHome,v1000,fine,Gripper407_1WObj:=wobj0; !初始工作點 MoveJ pPickBase,v1000,fine,G

6、ripper407_1WObj:=wobj0; !取工件點 MoveJ pPickCover,v1000,fine,Gripper407_1WObj:=wobj0; !取工件環(huán)點 MoveJ pPlaceInCasting,v1000,fine,Gripper407_1WObj:=wobj0; !放置到壓鑄機構(gòu)點 MoveJ pPickFromCasting,v1000,fine,Gripper407_1WObj:=wobj0; !從壓鑄機構(gòu)取出點 MoveJ pPlaceInStore,v1000,fine,Gripper407_1WObj:=wobj0; !放置到倉庫基準點 MoveJ p

7、Checking,v1000,fine,Gripper407_1WObj:=wobj0; !視覺檢測點 ENDPROC PROC Initial() !初始化子程序 nCounter:=0; !定義在開始后放置到垃圾箱的最低高度 Reset do_CastClamp; !壓鑄機構(gòu)平行氣夾松開 Reset do_CastXmove; !壓鑄機構(gòu)X方向回原點 Reset do_CastZmove; !壓鑄機構(gòu)Z方向收回 Reset do_TransmitBase; !關(guān)停傳送帶（工件） Reset do_TransmitCover; !關(guān)停傳送帶（工件環(huán)） Reset do_WorkpieceBa

8、se; !送料機構(gòu)（工件）收回 Reset do_WorkpieceCover; !送料機構(gòu)（工件環(huán)）收回 Reset do_Gripper; !松開機器人上的氣爪 Reset do_Checking; !視覺檢測復位 MoveJ pHome,v1000,z5,Gripper407_1WObj:=wobj0; !回到初始工作點 WaitTime 1; rPushBase; !推出第一個工件并開傳送帶 rPushCover; !推出第一個工件環(huán)并開傳送帶 ENDPROC PROC rPushBase() !送料機構(gòu)推出工件子程序 Set do_WorkpieceBase; !推出工件 WaitT

9、ime 0.5; Reset do_WorkpieceBase; !推桿收回 WaitTime 0.1; Set do_TransmitBase; !打開傳送帶 ENDPROC PROC rPushCover() !送料機構(gòu)推出工件環(huán)子程序 Set do_WorkpieceCover; !推出工件環(huán) WaitTime 0.5; Reset do_WorkpieceCover; !推桿收回 WaitTime 0.1; Set do_TransmitCover; !打開傳送帶 ENDPROC PROC rPickWorkpieceBase() !機器人從傳送帶上取工件子程序 ReSet do_Gr

10、ipper; !松開氣爪 MoveJ offs(pPickBase,0,0,100),v1000,z10,Gripper407_1WObj:=wobj0; !運動到抓取點的正上方100 WaitDI di_WorkpieceBaseInPos,1; !等待工件從傳送帶上傳送到位 Reset do_TransmitBase; !關(guān)閉傳送帶 MoveLDO pPickBase,v500,fine,Gripper407_1WObj:=wobj0,do_Gripper,1; !運動到抓取點并抓取 WaitTime 0.5; MoveL offs(pPickBase,0,0,100),v1000,z10

11、,Gripper407_1WObj:=wobj0; !運動到抓取點的正上方100 rPushBase; !調(diào)用送料機構(gòu)推出工件子程序 ENDPROC PROC rPlaceWorkpieceBase() !機器人將工件放置到壓鑄臺子程序 MoveJ offs(pPlaceInCasting,0,0,100),v1000,z10,Gripper407_1WObj:=wobj0; !運動到壓鑄臺的正上方100 MoveLDO pPlaceInCasting,v500,fine,Gripper407_1WObj:=wobj0,do_Gripper,0; !運動到壓鑄臺的并放下工件 Reset do_

12、Gripper; WaitTime 0.5; MoveL offs(pPlaceInCasting,0,0,100),v500,z10,Gripper407_1WObj:=wobj0; !運動到壓鑄臺的正上方100 ENDPROC PROC rPickWorkpieceCover() !機器人從傳送帶上取工件環(huán)子程序 Reset do_Gripper; !松開氣爪 MoveJ offs(pPickCover,0,0,100),v1000,z10,Gripper407_1WObj:=wobj0; !運動到抓取點的正上方100 WaitDI di_WorkpieceCoverInPos,1; !等

13、待工件從傳送帶上傳送到位 Reset do_TransmitCover; !關(guān)閉傳送帶 MoveLDO pPickCover,v200,fine,Gripper407_1WObj:=wobj0,do_Gripper,1; !運動到抓取點并抓取 WaitTime 0.5; MoveL offs(pPickCover,0,0,100),v1000,z10,Gripper407_1WObj:=wobj0; !運動到抓取點的正上方100 rGetColour; !調(diào)用視覺檢測子程序 rPushCover; !調(diào)用送料機構(gòu)推出工件環(huán)子程序 ENDPROC PROC rPlaceWorkpieceCove

14、r() !機器人將工件環(huán)放置到壓鑄臺子程序 MoveJ offs(pPlaceInCasting,0,0,100),v1000,z10,Gripper407_1WObj:=wobj0; !運動到壓鑄臺的正上方100 MoveLDO offs(pPlaceInCasting,3,0,36),v200,fine,Gripper407_1WObj:=wobj0,do_Gripper,0; !運動到壓鑄臺的并放下工件環(huán) WaitTime 0.5; MoveL offs(pPlaceInCasting,0,0,100),v500,z10,Gripper407_1WObj:=wobj0; !運動到壓鑄臺的

15、正上方100 ENDPROC PROC rCasting() !壓鑄子程序 Set do_CastClamp; !夾緊平行氣夾 WaitTime 0.5; Set do_CastXmove; !X方向運行到工作點 WaitDI di_CastXmoveInWork,1; !等待X方向運行到位 Set do_CastZmove; !Z方向向下壓鑄 WaitTime 0.5; Reset do_CastZmove; !Z方向收回 WaitTime 0.5; Reset do_CastXmove; !X方向回原點 WaitDI di_CastXmoveInHome,1; !等待X方向回到原點 Res

16、et do_CastClamp; !松開平行氣夾 WaitTime 0.5; ENDPROC PROC rPickCasting() !從壓鑄機構(gòu)取出成品子程序 MoveJ offs(pPickFromCasting,0,0,100),v1000,z10,Gripper407_1WObj:=wobj0; !運動到壓鑄臺取出點的正上方100 MoveLDO offs(pPickFromCasting,0,0,-28),v500,fine,Gripper407_1WObj:=wobj0,do_Gripper,1; !運動到壓鑄臺取出點并夾緊工件 WaitTime 0.5; MoveL offs(p

17、PickFromCasting,0,0,100),v500,z0,Gripper407_1WObj:=wobj0; !運動到壓鑄臺取出點的正上方100 ENDPROC PROC rStoring(num layer,num col) !存儲到倉庫子程序 MoveJ offs(pPlaceInStore,col*95-95,-150,240-120*layer),v1000,z10,Gripper407_1WObj:=wobj0; !運動到存儲點外側(cè)150（Y方向負150） !“col”為列，“95”為列寬，“l(fā)ayer”為層，從上層至下層為1-3，“120”為層高 MoveL offs(pPl

18、aceInStore,col*95-95,0,240-120*layer),v500,z0,Gripper407_1WObj:=wobj0; !運動到存儲點 WaitTime 0.6; Reset do_Gripper; !松開氣夾 WaitTime 0.5; MoveJ offs(pPlaceInStore,col*95-95,-150,240-120*layer),v1000,z10,Gripper407_1WObj:=wobj0; !運動到存儲點外側(cè)150（Y方向負150） ENDPROC PROC rPushToTrash() !放置到垃圾庫子程序 MoveJ Offs(pPushTo

19、Trash,0,0,250),v1000,fine,Gripper407_1WObj:=wobj0; !運動到放置點的正上方250 MoveJDO Offs(pPushToTrash,0,0,nCounter*10),v1000,fine,Gripper407_1WObj:=wobj0,do_Gripper,0; !運動到放置點 !"nCounter"為計數(shù)，每放置一個后向上10mm WaitTime 0.5; MoveJ Offs(pPushToTrash,0,0,250),v1000,fine,Gripper407_1WObj:=wobj0; !運動到放置點的正上方25

20、0 nCounter:=nCounter+1; !計數(shù)加1 ENDPROC PROC rGetColour() !工件顏色判斷子程序 IF di_CoverYellow=1 THEN CheckedColour:="Y" !若檢測到黃色，則CheckedColour賦值"Y" ELSEIF di_CoverGreen=1 THEN CheckedColour:="G" !若檢測到綠色，則CheckedColour賦值"G" ELSEIF di_CoverBlue=1 THEN CheckedColour:=&quo

21、t;B" !若檢測到藍色，則CheckedColour賦值"B" ELSE CheckedColour:="non" !若檢測失敗，則CheckedColour賦值"non" ENDIF ENDPROC PROC rChecking() !視覺檢測子程序 MoveJ Offs(pChecking,-100,0,0),v500,fine,Gripper407_1WObj:=wobj0; !運動到檢測點的X方向-100 MoveJ pChecking,v300,fine,Gripper407_1WObj:=wobj0; !運動到檢測點 Set do_Checking; !使能相機開始檢測 WaitTime 0.8; Reset do_Checking; !停止檢測 ENDPROC PROC main() VAR num Yellow_num:=0; !定義黃色工件的當前個數(shù) VAR num Green_num:=0; !定義綠色工件的當前個數(shù) VAR num Blue_num:=0; !定義藍色工件的當前個數(shù) Initial; !初始化 WHILE TRUE DO MoveJ pHome,v1000,z5,Gripper407_1WObj:=wob